11. I/O Connector 61
12.1 I/O Signal Description
12.1.2 Remote Output Signals
Remote outputs provide status for the Manipulator and Controller.
Remote outputs provide the assigned function using with any control device. The outputs execute automatically. Therefore, no special programming is needed.
Name Initial Description
Ready 0 Turns ON when the Controller startup completes and no task is running.
Running 1 Turns ON when task is running.
However, turns OFF when “Paused output” is ON.
Paused 2 Turns ON when pause task exists.
Error 3 Turns ON when an error occurs.
Use “Reset input” to recover from the error.
EStopOn 4 Turns ON at Emergency Stop.
SafeguardOn 5 Turns ON when the safeguard is open.
SError 6 Turns ON when critical error occurs.
When a critical error occurs, “Reset input” does not function. Reboot the Controller to recover.
Warning 7
Turns ON when warning occurs.
The task runs as normal with the warning. However, be sure to eliminate the cause of the warning as soon as possible.
MotorsOn Not set Turns ON when the robot motor is ON. (*5) AtHome Not set Turns ON when the robot is in the home position. (*5) PowerHigh Not set Turns ON when the robot’s power mode is High. (*5) MCalReqd Not set Turns ON when the robot hasn’t executed MCal. (*5) RecoverReqd Not set Turns ON when at least one robot is waiting for Recover after the safeguard is closed.
RecoverInCycle Not set Turns ON when at least one robot is executing Recover.
CmdRunning Not set Turns ON when an input command is executing.
CmdError Not set Turns ON when an input command cannot be accepted.
CurrProg1
Not set Indicates the running or the last main function number(*1)
AutoMode Not set Turns ON in remote input acceptable status. (*2) TeachMode Not set Turns ON in TEACH mode.
ErrorCode1 .. .
ErrorCode8192
Not set Indicates the error number.
InsideBox1 Alarm1 Not set Turns ON when a battery alarm of the Controller is occurring.
Setup & Operation 12. I/O Remote Settings
Name Initial Description
Alarm2 Not set Turns ON when a battery alarm of the robot connected to CU is occurring.
Alarm3 Not set Turns ON when a grease alarm of the robot connected to CU
is occurring. (*10)
Alarm4 Not set Turns ON when a battery alarm of the robot connected to DU1 is occurring.
Alarm5 Not set Turns ON when a grease alarm of the robot connected to DU1
is occurring. (*10)
Alarm6 Not set Turns ON when a battery alarm of the robot connected to DU2 is occurring.
Alarm7 Not set Turns ON when a grease alarm of the robot connected to DU2
is occurring. (*10)
Alarm8 Not set Turns ON when a battery alarm of the robot connected to DU3 is occurring.
Alarm9 Not set Turns ON when a grease alarm of the robot connected to DU3
is occurring. (*10)
PositionX Not set Outputs current X coordinate in the World coordinate system (*6) (*7) PositionY Not set Outputs current Y coordinate in the World coordinate system
(*6) (*7) PositionZ Not set Outputs current Z coordinate in the World coordinate system
(*6) (*7) PositionU Not set Outputs current U coordinate in the World coordinate system
(*6) (*7) PositionV Not set Outputs current V coordinate in the World coordinate system
(*6) (*7) PositionW Not set Outputs current W coordinate in the World coordinate system
(*6) (*7) Torque1 Not set Outputs the current torque value of Joint #1 (*6) (*7) Torque2 Not set Outputs the current torque value of Joint #2 (*6) (*7) Torque3 Not set Outputs the current torque value of Joint #3 (*6) (*7) Torque4 Not set Outputs the current torque value of Joint #4 (*6) (*7) Torque5 Not set Outputs the current torque value of Joint #5 (*6) (*7) Torque6 Not set Outputs the current torque value of Joint #6 (*6) (*7) CPU Not set Outputs the CPU load factor of the user program (*8) ESTOP Not set Outputs how many times emergency stops have been
executed.
ALIVE Not set
Output signal for alive monitoring of the Controller. The signal input by ALIVE input will be output. The master equipment can perform alive monitoring of the Controller by switching the input periodically and checking the output signal.
Setup & Operation 12. I/O Remote Settings
74 RC700 / RC700-A Rev.26
(*1) Outputs the current or the last function number of CurrProg1, 2, 4, 8, 16, or 32.
Function CurrProg1 CurrProg2 CurrProg4 CurrProg8 CurrProg16 CurrProg32
Main 0 0 0 0 0 0
(*2) Remote function is available in the followings conditions.
- The setting is Auto mode and the control device is remote.
- The setting is Program mode and Remote I/O is enabled.
(*3) For details, refer to EPSON RC+ 7.0 Online Help or Box in SPEL+ Language Reference.
(*4) For details, refer to EPSON RC+ 7.0 Online Help or Plane in SPEL+ Language Reference.
(*5) Manipulator status is output as follows, according to the condition selected in SelRobot.
Wait at least 40 ms before inputting the signal after changing the condition in SelRobot.
Name (SelRobot1- SelRobot16) condition when inputting SelRobot 0: All robots are selected 1 - 16: Particular robot number is
selected MotorsOn Turns ON when at least one motor is
ON. Turns ON when the motor of the selected
robot is ON.
AtHome Turns ON when all robots are in the
home position. Turns ON when the selected robot is in the home position.
PowerHigh Turns ON when at least one robot’s
power mode is High. Turns ON when the selected robot’s power mode is High.
MCalReqd Turns ON when at least one robot
hasn’t executed MCal Turns ON when the selected robot hasn’t executed MCal.
(*6) Outputs information of the selected robot when SelRobot1, SelRobot2, SelRobot4, SelRobot8, and SelRobot16 are set. If not, information of Robot 1 will be output.
(*7) Outputs information in Real format.
(*8) Outputs the total load factor of the user created tasks. For details on the CPU load factor, refer to the task manager.
(*9) The signal turns ON when the alarm occurs either in the Controller alarm information or the robot alarm information.
(*10) The following parts are subject to grease up.
6-axis robot: Bevel gear on the Joint #6
SCARA, RS series: Ball screw spline unit on the Joint # 3
Setup & Operation 12. I/O Remote Settings